Despite WITH_CERES option, ceres is actually required to compile

[severin-lemaignan]

While the CMakeLists exposes a WITH_CERES option, ceres is indeed required to compile v4r, due to modules/reconstruction/include/v4r/reconstruction/impl/ReprojectionError.hpp including ceres/rotation.h.

[ToMadoRe]

Yes, you are right. At the moment, we do not conditionally compile files / modules depending on whether these 3rd party libraries are installed. This would require to rewrite some cmake files of V4R but is planned to be implemented in the future.

[CWallbridge]

I seem to have encountered a similar issue. Also the libceres-dev package that can be installed with Ubuntu does not appear to provide the CeresConfig.cmake or ceres-config.cmake file required for being built WITH_CERES enabled. Is there somewhere I can get these files?

[taketwo]

I would recommend to compile Ceres from source and tell CMake where you installed it with -DCeres_DIR=<install_dir>/share/Ceres.